OpenRaiser/Intern-Atlas huggingface dataset:
What really changes when developers intend to improve their source code: a commit-level study of static metric value and static analysis warning changes
Venue: arXiv cs.SE 2022
Year: 2022

Many software metrics are designed to measure aspects that are believed to be related to software quality. Static software metrics, e.g., size, complexity and coupling are used in defect prediction research as well as software quality models to evaluate software quality. While this indicates a relationship between quality and software metrics, the extent of it is not well understood. Moreover, recent studies found that complexity metrics may be unreliable indicators for understandability of the source code. To explore this relationship, we leverage the intent of developers about what constitutes a quality improvement in their own code base. We manually classify a randomized sample of 2,533 commits from 54 Java open source projects as quality improving depending on the intent of the developer by inspecting the commit message. We distinguish between perfective and corrective maintenance via predefined guidelines and use this data as ground truth for the fine-tuning of a state-of-the art deep learning model for natural language processing. We use the model to increase our data set to 125,482 commits. Based on the resulting data set, we investigate the differences in size and 14 static source code metrics between changes that increase quality, as indicated by the developer, and other changes. We find that quality improving commits are smaller than other commits. Perfective changes have a positive impact on static source code metrics while corrective changes do tend to add complexity. Furthermore, we find that files which are the target of perfective maintenance already have a lower median complexity than other files. Our study results provide empirical evidence for which static source code metrics capture quality improvement from the developers point of view. This has implications for program understanding as well as code smell detection and recommender systems.
LiDARTouch: Monocular metric depth estimation with a few-beam LiDAR
Venue: arXiv cs.CV 2022
Year: 2022

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several expensive LiDARs, e.g., with 64 beams, or camera-only methods, which suffer from scale-ambiguity and infinite-depth problems. In this paper, we propose a new alternative of densely estimating metric depth by combining a monocular camera with a light-weight LiDAR, e.g., with 4 beams, typical of today's automotive-grade mass-produced laser scanners. Inspired by recent self-supervised methods, we introduce a novel framework, called LiDARTouch, to estimate dense depth maps from monocular images with the help of ``touches'' of LiDAR, i.e., without the need for dense ground-truth depth. In our setup, the minimal LiDAR input contributes on three different levels: as an additional model's input, in a self-supervised LiDAR reconstruction objective function, and to estimate changes of pose (a key component of self-supervised depth estimation architectures). Our LiDARTouch framework achieves new state of the art in self-supervised depth estimation on the KITTI dataset, thus supporting our choices of integrating the very sparse LiDAR signal with other visual features. Moreover, we show that the use of a few-beam LiDAR alleviates scale ambiguity and infinite-depth issues that camera-only methods suffer from. We also demonstrate that methods from the fully-supervised depth-completion literature can be adapted to a self-supervised regime with a minimal LiDAR signal.
A Dual-Channel Framework for Sarcasm Recognition by Detecting Sentiment Conflict
Venue: arXiv cs.CL 2022
Year: 2022

Sarcasm employs ambivalence, where one says something positive but actually means negative, and vice versa. The essence of sarcasm, which is also a sufficient and necessary condition, is the conflict between literal and implied sentiments expressed in one sentence. However, it is difficult to recognize such sentiment conflict because the sentiments are mixed or even implicit. As a result, the recognition of sophisticated and obscure sentiment brings in a great challenge to sarcasm detection. In this paper, we propose a Dual-Channel Framework by modeling both literal and implied sentiments separately. Based on this dual-channel framework, we design the Dual-Channel Network~(DC-Net) to recognize sentiment conflict. Experiments on political debates (i.e. IAC-V1 and IAC-V2) and Twitter datasets show that our proposed DC-Net achieves state-of-the-art performance on sarcasm recognition. Our code is released to support research.
PowerGym: A Reinforcement Learning Environment for Volt-Var Control in Power Distribution Systems
Venue: arXiv cs.LG 2022
Year: 2022

We introduce PowerGym, an open-source reinforcement learning environment for Volt-Var control in power distribution systems. Following OpenAI Gym APIs, PowerGym targets minimizing power loss and voltage violations under physical networked constraints. PowerGym provides four distribution systems (13Bus, 34Bus, 123Bus, and 8500Node) based on IEEE benchmark systems and design variants for various control difficulties. To foster generalization, PowerGym offers a detailed customization guide for users working with their distribution systems. As a demonstration, we examine state-of-the-art reinforcement learning algorithms in PowerGym and validate the environment by studying controller behaviors. The repository is available at \url{https://github.com/siemens/powergym}.
Membership Inference Attacks Against Temporally Correlated Data in Deep Reinforcement Learning
Venue: arXiv cs.LG 2022
Year: 2022

While significant research advances have been made in the field of deep reinforcement learning, there have been no concrete adversarial attack strategies in literature tailored for studying the vulnerability of deep reinforcement learning algorithms to membership inference attacks. In such attacking systems, the adversary targets the set of collected input data on which the deep reinforcement learning algorithm has been trained. To address this gap, we propose an adversarial attack framework designed for testing the vulnerability of a state-of-the-art deep reinforcement learning algorithm to a membership inference attack. In particular, we design a series of experiments to investigate the impact of temporal correlation, which naturally exists in reinforcement learning training data, on the probability of information leakage. Moreover, we compare the performance of \emph{collective} and \emph{individual} membership attacks against the deep reinforcement learning algorithm. Experimental results show that the proposed adversarial attack framework is surprisingly effective at inferring data with an accuracy exceeding $84\%$ in individual and $97\%$ in collective modes in three different continuous control Mujoco tasks, which raises serious privacy concerns in this regard. Finally, we show that the learning state of the reinforcement learning algorithm influences the level of privacy breaches significantly.
Leveraging Local Domains for Image-to-Image Translation
Venue: arXiv cs.CV 2022
Year: 2022

Image-to-image (i2i) networks struggle to capture local changes because they do not affect the global scene structure. For example, translating from highway scenes to offroad, i2i networks easily focus on global color features but ignore obvious traits for humans like the absence of lane markings. In this paper, we leverage human knowledge about spatial domain characteristics which we refer to as 'local domains' and demonstrate its benefit for image-to-image translation. Relying on a simple geometrical guidance, we train a patch-based GAN on few source data and hallucinate a new unseen domain which subsequently eases transfer learning to target. We experiment on three tasks ranging from unstructured environments to adverse weather. Our comprehensive evaluation setting shows we are able to generate realistic translations, with minimal priors, and training only on a few images. Furthermore, when trained on our translations images we show that all tested proxy tasks are significantly improved, without ever seeing target domain at training.
Residual 3D Scene Flow Learning with Context-Aware Feature Extraction
Venue: arXiv cs.CV 2022
Year: 2022

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous driving. Although many previous works have explored greatly on scene flow estimation based on point clouds, there are two problems that have not been noticed or well solved before: 1) Points of adjacent frames in repetitive patterns may be wrongly associated due to similar spatial structure in their neighbourhoods; 2) Scene flow between adjacent frames of point clouds with long-distance movement may be inaccurately estimated. To solve the first problem, a novel context-aware set convolution layer is proposed in this paper to exploit contextual structure information of Euclidean space and learn soft aggregation weights for local point features. This design is inspired by human perception of contextual structure information during scene understanding with repetitive patterns. The context-aware set convolution layer is incorporated in a context-aware point feature pyramid module of 3D point clouds for scene flow estimation. For the second problem, an explicit residual flow learning structure is proposed in the residual flow refinement layer to cope with long-distance movement. The experiments and ablation study on FlyingThings3D and KITTI scene flow datasets demonstrate the effectiveness of each proposed component. The qualitative results show that the problems of ambiguous inter-frame association and long-distance movement estimation are well handled. Quantitative results on both FlyingThings3D and KITTI scene flow datasets show that the proposed method achieves state-of-the-art performance, surpassing all other previous works to the best of our knowledge by at least 25%.
KNODE-MPC: A Knowledge-based Data-driven Predictive Control Framework for Aerial Robots
Venue: arXiv cs.RO 2022
Year: 2022

In this work, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies on precise dynamic models to achieve the desired closed-loop performance. However, the presence of uncertainties in complex systems and the environments they operate in poses a challenge in obtaining sufficiently accurate representations of the system dynamics. In this work, we make use of a deep learning tool, knowledge-based neural ordinary differential equations (KNODE), to augment a model obtained from first principles. The resulting hybrid model encompasses both a nominal first-principle model and a neural network learnt from simulated or real-world experimental data. Using a quadrotor, we benchmark our hybrid model against a state-of-the-art Gaussian Process (GP) model and show that the hybrid model provides more accurate predictions of the quadrotor dynamics and is able to generalize beyond the training data. To improve closed-loop performance, the hybrid model is integrated into a novel MPC framework, known as KNODE-MPC. Results show that the integrated framework achieves 60.2% improvement in simulations and more than 21% in physical experiments, in terms of trajectory tracking performance.
Saliency Guided Experience Packing for Replay in Continual Learning
Venue: arXiv cs.LG 2022
Year: 2022

Artificial learning systems aspire to mimic human intelligence by continually learning from a stream of tasks without forgetting past knowledge. One way to enable such learning is to store past experiences in the form of input examples in episodic memory and replay them when learning new tasks. However, performance of such method suffers as the size of the memory becomes smaller. In this paper, we propose a new approach for experience replay, where we select the past experiences by looking at the saliency maps which provide visual explanations for the model's decision. Guided by these saliency maps, we pack the memory with only the parts or patches of the input images important for the model's prediction. While learning a new task, we replay these memory patches with appropriate zero-padding to remind the model about its past decisions. We evaluate our algorithm on CIFAR-100, miniImageNet and CUB datasets and report better performance than the state-of-the-art approaches. With qualitative and quantitative analyses we show that our method captures richer summaries of past experiences without any memory increase, and hence performs well with small episodic memory.
The Flaws of Policies Requiring Human Oversight of Government Algorithms
Venue: arXiv cs.HC 2022
Year: 2022

As algorithms become an influential component of government decision-making around the world, policymakers have debated how governments can attain the benefits of algorithms while preventing the harms of algorithms. One mechanism that has become a centerpiece of global efforts to regulate government algorithms is to require human oversight of algorithmic decisions. Despite the widespread turn to human oversight, these policies rest on an uninterrogated assumption: that people are able to effectively oversee algorithmic decision-making. In this article, I survey 41 policies that prescribe human oversight of government algorithms and find that they suffer from two significant flaws. First, evidence suggests that people are unable to perform the desired oversight functions. Second, as a result of the first flaw, human oversight policies legitimize government uses of faulty and controversial algorithms without addressing the fundamental issues with these tools. Thus, rather than protect against the potential harms of algorithmic decision-making in government, human oversight policies provide a false sense of security in adopting algorithms and enable vendors and agencies to shirk accountability for algorithmic harms. In light of these flaws, I propose a shift from human oversight to institutional oversight as the central mechanism for regulating government algorithms. This institutional approach operates in two stages. First, agencies must justify that it is appropriate to incorporate an algorithm into decision-making and that any proposed forms of human oversight are supported by empirical evidence. Second, these justifications must receive democratic public review and approval before the agency can adopt the algorithm.
A Decidability-Based Loss Function
Venue: arXiv cs.CV 2022
Year: 2022

Nowadays, deep learning is the standard approach for a wide range of problems, including biometrics, such as face recognition and speech recognition, etc. Biometric problems often use deep learning models to extract features from images, also known as embeddings. Moreover, the loss function used during training strongly influences the quality of the generated embeddings. In this work, a loss function based on the decidability index is proposed to improve the quality of embeddings for the verification routine. Our proposal, the D-loss, avoids some Triplet-based loss disadvantages such as the use of hard samples and tricky parameter tuning, which can lead to slow convergence. The proposed approach is compared against the Softmax (cross-entropy), Triplets Soft-Hard, and the Multi Similarity losses in four different benchmarks: MNIST, Fashion-MNIST, CIFAR10 and CASIA-IrisV4. The achieved results show the efficacy of the proposal when compared to other popular metrics in the literature. The D-loss computation, besides being simple, non-parametric and easy to implement, favors both the inter-class and intra-class scenarios.
PQ-Transformer: Jointly Parsing 3D Objects and Layouts from Point Clouds
Venue: arXiv cs.CV 2022
Year: 2022

3D scene understanding from point clouds plays a vital role for various robotic applications. Unfortunately, current state-of-the-art methods use separate neural networks for different tasks like object detection or room layout estimation. Such a scheme has two limitations: 1) Storing and running several networks for different tasks are expensive for typical robotic platforms. 2) The intrinsic structure of separate outputs are ignored and potentially violated. To this end, we propose the first transformer architecture that predicts 3D objects and layouts simultaneously, using point cloud inputs. Unlike existing methods that either estimate layout keypoints or edges, we directly parameterize room layout as a set of quads. As such, the proposed architecture is termed as P(oint)Q(uad)-Transformer. Along with the novel quad representation, we propose a tailored physical constraint loss function that discourages object-layout interference. The quantitative and qualitative evaluations on the public benchmark ScanNet show that the proposed PQ-Transformer succeeds to jointly parse 3D objects and layouts, running at a quasi-real-time (8.91 FPS) rate without efficiency-oriented optimization. Moreover, the new physical constraint loss can improve strong baselines, and the F1-score of the room layout is significantly promoted from 37.9% to 57.9%.
Nimber-Preserving Reductions and Homomorphic Sprague-Grundy Game Encodings
Venue: arXiv cs.CC 2022
Year: 2022

The concept of nimbers--a.k.a. Grundy-values or nim-values--is fundamental to combinatorial game theory. Nimbers provide a complete characterization of strategic interactions among impartial games in their disjunctive sums as well as the winnability. In this paper, we initiate a study of nimber-preserving reductions among impartial games. These reductions enhance the winnability-preserving reductions in traditional computational characterizations of combinatorial games. We prove that Generalized Geography is complete for the natural class, $\cal{I}^P$ , of polynomially-short impartial rulesets under nimber-preserving reductions, a property we refer to as Sprague-Grundy-complete. In contrast, we also show that not every PSPACE-complete ruleset in $\cal{I}^P$ is Sprague-Grundy-complete for $\cal{I}^P$ . By considering every impartial game as an encoding of its nimber, our technical result establishes the following striking cryptography-inspired homomorphic theorem: Despite the PSPACE-completeness of nimber computation for $\cal{I}^P$ , there exists a polynomial-time algorithm to construct, for any pair of games $G_1$, $G_2$ of $\cal{I}^P$ , a prime game (i.e. a game that cannot be written as a sum) $H$ of $\cal{I}^P$ , satisfying: nimber($H$) = nimber($G_1$) $\oplus$ nimber($G_2$).
Sequential Detection and Estimation of Multipath Channel Parameters Using Belief Propagation
Venue: arXiv cs.IT 2022
Year: 2022

This paper proposes a belief propagation (BP)-based algorithm for sequential detection and estimation of multipath component (MPC) parameters based on radio signals. Under dynamic channel conditions with moving transmitter/receiver, the number of MPCs, the MPC dispersion parameters, and the number of false alarm contributions are unknown and time-varying. We develop a Bayesian model for sequential detection and estimation of MPC dispersion parameters, and represent it by a factor graph enabling the use of BP for efficient computation of the marginal posterior distributions. At each time step, a snapshot-based parametric channel estimator provides parameter estimates of a set of MPCs which are used as noisy measurements by the proposed BP-based algorithm. It performs joint probabilistic data association, and estimation of the time-varying MPC parameters and the mean number of false alarm measurements, by means of the sum-product algorithm rules. The algorithm also exploits amplitude information enabling the reliable detection of "weak" MPCs with very low component signal-to-noise ratios (SNRs). The performance of the proposed algorithm compares well to state-of-the-art algorithms for high SNR MPCs, but it significantly outperforms them for medium or low SNR MPCs. Results using real radio measurements demonstrate the excellent performance of the proposed algorithm in realistic and challenging scenarios.
Detecting Textual Adversarial Examples through Randomized Substitution and Vote
Venue: arXiv cs.CL 2022
Year: 2022

A line of work has shown that natural text processing models are vulnerable to adversarial examples. Correspondingly, various defense methods are proposed to mitigate the threat of textual adversarial examples, eg, adversarial training, input transformations, detection, etc. In this work, we treat the optimization process for synonym substitution based textual adversarial attacks as a specific sequence of word replacement, in which each word mutually influences other words. We identify that we could destroy such mutual interaction and eliminate the adversarial perturbation by randomly substituting a word with its synonyms. Based on this observation, we propose a novel textual adversarial example detection method, termed Randomized Substitution and Vote (RS&V), which votes the prediction label by accumulating the logits of k samples generated by randomly substituting the words in the input text with synonyms. The proposed RS&V is generally applicable to any existing neural networks without modification on the architecture or extra training, and it is orthogonal to prior work on making the classification network itself more robust. Empirical evaluations on three benchmark datasets demonstrate that our RS&V could detect the textual adversarial examples more successfully than the existing detection methods while maintaining the high classification accuracy on benign samples.
Data Preparation for Software Vulnerability Prediction: A Systematic Literature Review
Venue: arXiv cs.SE 2022
Year: 2022

Software Vulnerability Prediction (SVP) is a data-driven technique for software quality assurance that has recently gained considerable attention in the Software Engineering research community. However, the difficulties of preparing Software Vulnerability (SV) related data is considered as the main barrier to industrial adoption of SVP approaches. Given the increasing, but dispersed, literature on this topic, it is needed and timely to systematically select, review, and synthesize the relevant peer-reviewed papers reporting the existing SV data preparation techniques and challenges. We have carried out a Systematic Literature Review (SLR) of SVP research in order to develop a systematized body of knowledge of the data preparation challenges, solutions, and the needed research. Our review of the 61 relevant papers has enabled us to develop a taxonomy of data preparation for SVP related challenges. We have analyzed the identified challenges and available solutions using the proposed taxonomy. Our analysis of the state of the art has enabled us identify the opportunities for future research. This review also provides a set of recommendations for researchers and practitioners of SVP approaches.
On the equivalence of two post-quantum cryptographic families
Venue: arXiv cs.CC 2022
Year: 2022

The Maximum Likelihood Decoding Problem (MLD) is known to be NP-hard and its complexity is strictly related to the security of some post-quantum cryptosystems, that is, the so-called code-based primitives. Analogously, the Multivariate Quadratic System Problem (MQ) is NP-hard and its complexity is necessary for the security of the so-called multivariate-based primitives. In this paper we present a closed formula for a polynomial-time reduction from any instance of MLD to an instance of MQ, and viceversa. We also show a polynomial-time isomorphism between MQ and MLD, thus demonstrating the direct link between the two post-quantum cryptographic families.